CN102682613A - Method for coordinately controlling sub road section green wave induction and distribution - Google Patents

Method for coordinately controlling sub road section green wave induction and distribution Download PDF

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CN102682613A
CN102682613A CN2012101584311A CN201210158431A CN102682613A CN 102682613 A CN102682613 A CN 102682613A CN 2012101584311 A CN2012101584311 A CN 2012101584311A CN 201210158431 A CN201210158431 A CN 201210158431A CN 102682613 A CN102682613 A CN 102682613A
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highway section
sub
green
vehicle
green wave
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邓湘
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Abstract

The invention relates to a method for coordinately controlling sub road section green wave induction and distribution, which belongs to the field of road traffic signal control. The method comprises steps: a set of traffic signal lights are installed on a road section every 100m along any driving direction between two road crossings, and then, the signal lights within the road sections and the signal lights at an exit are commonly and coordinately controlled; the distances among all the signal lights within the road sections are greatly reduced relative to the distances among all the road crossings, and accordingly, the relevant information of 'a green wave band' which can only and originally be observed from the position around a crossing can be obtained at any position within the road section. When the vehicle just travels on the road section or is interfered, a driver can still figure out whether himself is in or out the 'green wave band', thus deciding to adjust the speed for driving into the 'green wave band'. Consequently, the 'green wave band' is only correlative with the signal lights at the exit, and the united coordination control of the signal lights of all the road crossings on the same road is not needed to be performed as in the existing 'green wave band'.

Description

The green ripple in one seed highway section is induced the shunting control method for coordinating
Technical field
The present invention relates to road traffic signal control field, particularly relate to and carry out the method that the shunting vehicle is induced in green wave coordination control in a kind of highway section between two crossings.
Background technology
The present invention is popular to belong to a kind of novel " green wave band " technology.So-called " green wave band "; Be actually the imagery saying of " signal lamp coordinated multi-point control technology ", promptly on a zone or a road, carry out unified signal lamp coordination control, all links of the signal lamp of including range of control in; Through computing machine the signal time distributing conception of each signal lamp is coordinated control; Make in the process that wagon flow goes on the arterial highway, run into green light one by one continuously, unblockedly through all intersections on the way in each crossing.Owing to see from driver's vision, the waves rolling along in succession like green for the place ahead green light, so this technology also is called " green wave band " visually.Though " green wave band " has the road passage capability of raising, the red times such as shock wave generation, minimizing that prevent to block up, fuel-efficient environmental protection to reduce plurality of advantages such as accessory wearing and tearing; The extensive popularization of " but green wave band " technology is difficult; This is must meet some requirements because want on a certain road, to carry out " green wave band ": at first; The signal period of all crossings wants consistent on the road of implementation " green wave band "; This realizes than is easier between the several crossings on the road, will carry out very difficulty of united and coordinating control to the signal of all crossings on many roads in certain zone but in a single day scale expands to; Secondly, the road traffic order of carrying out " green wave band " is relatively good, does not have the factor of the green ripple normal vehicle operation of too much interference, because green ripple vehicle is in case can be easy to lose opportunity current in " green wave band " by interference; At last, be suitable for each crossing of " green wave band ", its magnitude of traffic flow needs roughly approaching.In view of above reason, can know that existing " green wave band " technique almost can not promote on a large scale in the complicated day by day urban road of traffic, must change existing " green wave band " technology, just can make it be able to promote on a large scale.
Make a concrete analysis of below and why carry out " green wave band " necessary satisfied above some qualifications.We know that the target of implementation " green wave band " is to realize that vehicle always runs into green light when arriving the crossing; The method of this target of existing techniques in realizing is: at first to limit green ripple vehicle with fixing speed in travels down, so that the time constant that green ripple vehicle goes and spent between any two crossings; And then, make time that each crossing's green light lights and the time that green ripple vehicle arrives the crossing match through regulating the signal time distributing conception of each crossing, realize that finally vehicle always runs into green light when each crossing of arrival.Because must coordinating control to the signal time distributing conception of each crossing, existing method could realize " green wave band "; And coordinate to necessarily require in the control signal period of each crossing to want consistent, this hinders a key factor of " green wave band " technology popularization just.
Hinder another factor of " green wave band " technology popularization to be; Green ripple vehicle is in case disturbed the green ripple transit time that just misses " green wave band " probably; Because can not grasp " green wave band " relevant information when green ripple vehicle goes in the highway section; Only knowing to go according to green wave velocity just can remain in " green wave band ", just can not be guaranteed that oneself also being in " green wave band " has suffered certainly in case disturb to incur loss through delay.
Can know from above analysis; Existing just " green wave band " technology itself; Caused the generation of obstruction " green wave band " technology popularization factor, had only fundamentally to change existing " green wave band " technology, just can make the popularization on a large scale of " green wave band " technology become possibility.
Summary of the invention
Be directed to the factor of two obstruction " green wave band " technology popularization of mentioning in the background technology, the present invention is following the method that following thinking has envisioned its solution.
At first; Since in a zone, realize very difficulty of unified signal coordinating control between a large amount of crossing; Can we abandon between each crossing, carrying out unified signal coordinating control so? Certainly such way means; Run into green light when arriving the crossing though vehicle might temporarily be in to go in " green wave band " on certain highway section, it just not necessarily still can be in " green wave band " and suffer after getting into next highway section.Wanting vehicle gets into again in " green wave band " and goes; Just must be through letting the driver know someway; It is current as go according to green wave velocity whether what run into when arriving junction ahead be green light; Oneself whether still be in " green wave band " so that the driver can judge in view of the above, constantly adjust the speed of a motor vehicle then as the case may be, in the hope of before arriving at the crossing, getting in " green wave band ".Even if so the signal time distributing conception of each crossing is not coordinated control; Also can be through letting vehicle in the process of going, constantly regulate the speed; So that the green light that its time that arrives the crossing goes initiatively to adapt to each crossing conversely lights the time, thereby finally be implemented in the target that green light is always run into by each crossing.
Secondly; Fear the problem disturbed for green ripple vehicle; If we are through letting green ripple vehicle after being disturbed, can in time know someway, whether it is current as go according to green wave velocity whether what run into when arriving junction ahead be green light, oneself still be in " green wave band " so that the driver can judge in view of the above; Constantly adjust the speed of a motor vehicle then as the case may be, in the hope of before arriving at the crossing, returning in " green wave band ".Can so green ripple vehicle just need not too not worried miss " green wave band " after being interfered?
The present invention just is being based on the conception of above two aspects; Through letting the driver can both grasp at any time someway; It is current as according to the green wave velocity traffic indication information that signal lamp will show when arriving junction ahead that goes, so take measures to make own get into also finally to remain in " green wave band " go up to the crossing.Be exactly specifically: on the highway section of arbitrary garage direction between two crossings, whenever adorn one group of traffic lights, then signal lamp in these highway sections and exit signal lamp are carried out united and coordinating control at a distance from meter ampere more than 100.Distance in the highway section between each signal lamp is dwindled with respect to the distance between each crossing greatly, originally all can be grasped near " green wave band " relevant information any position in the highway section that just can be observed the crossing thereby let.No matter vehicle is when just having sailed the highway section into or after being interfered, and the driver can know whether oneself also is in " green wave band ", thereby whether decision need regulate the speed oneself can get in " green wave band " goes." green wave band " that forms like this is only relevant with the exit signal lamp, need not carrying out unified coordination control on the road between each intersection signal lamp as existing " green wave band ".
Set forth method of the present invention through concrete step below:
1., in the highway section, set up specific sub-highway section signal lamp according to certain method.
Highway section on selected a certain one-way road or the arbitrary garage of the two-way road direction between two crossings is for implementing the highway section of green wave coordination control; Setting up one group of traffic lights apart from 50～100 meters of outlet stop line, highway section; Whenever then, set up one group of traffic lights at a distance from 100～200 meters, set up last to organize traffic lights up to 50～100 meters of distance inlet zebra stripes.Why select whenever to set up one group of traffic lights at a distance from 100～200 meters, its reason is: 1). having seen the content on it clearly during apart from 100 meters far away in signal lamp under most weather conditions, there is no need after close setting; 2). the overstocked setting can make that cost is too high; 3). the overstocked setting can make the driver will note signal lamp in every separated several seconds, thereby causes driver's mental fatigue; 4) if. the Traffic signal post spacing is too sparse to surpass 200 meters probably can not in time provide green wave band information for vehicle again.
If be sub-highway section by separated a section the little highway section of traffic lights in the definition highway section; The traffic lights of then setting up in these highway sections of definable are sub-highway section signal lamp; Set simultaneously in two sub-highway sections that are close to anyon highway section signal lamp i, export its corresponding sub-highway section i that is of a side near garage's direction.
Each is organized sub-highway section signal lamp and all should comprise: left-hand rotation arrow lamp, craspedodrome arrow lamp, right-hand rotation arrow lamp, left rotaring signal count-down device, craspedodrome signal count-down device, the green wave velocity display of right turn signal count-down device and sub-highway section, its neutron highway section green wave velocity display speed of displaying is the green wave velocity on its corresponding sub-highway section.In order not misunderstand; Left-hand rotation arrow lamp and left rotaring signal count-down device should be close to placement each other; Craspedodrome arrow lamp and craspedodrome signal count-down device should be close to placement each other; Right-hand rotation arrow lamp and right turn signal count-down device should be close to placement each other, and the green wave velocity display in sub-highway section should be apart from the placements far away of other signal lamps.
2, the green wave velocity on tentatively definite each sub-highway section.
If green wave coordination control is located to have carried out between two crossings in the gateway, then the green wave velocity on each sub-highway section should be identical with the green wave velocity that the control of two crossings implementation green wave coordination is adopted; If green wave coordination control is located not carry out between two crossings in the gateway, then should enter the mouth and the initial mistiming in the moment that exports the vehicle flowrate maximum phase according to the highway section, and the total length in highway section, primary Calculation goes out the green wave velocity in each sub-highway section; If the green wave velocity that calculates is higher than the highway section Maximum speed limit or is lower than the minimum speed of 20 kilometer per hours, then should between highway section Maximum speed limit and minimum speed, reselect the green wave velocity of a speed as each sub-highway section.
2, confirm the signal time distributing conception of each sub-highway section signal lamp.
Distance based on distance outlet is named each sub-highway section signal lamp, and the distance outlet is nearest answers the sub-highway section of called after signal lamp 1, the distance outlet farthest answer the sub-highway section of called after signal lamp n, n is the quantity of sub-highway section signal lamp in the highway section.The signal time distributing conception of setting sub-highway section signal lamp 1 is identical with the signal time distributing conception content of outlet crossing, but zero-time will shift to an earlier date a period of time, promptly has a phase differential O 1, O wherein 1Can be expressed from the next:
Figure BSA00000721337900041
D in the formula 1Be the length in sub-highway section 1, v 1Be the green wave velocity in sub-highway section 1, calculating phase differential O according to formula 1After, just can draw the signal time distributing conception of sub-highway section signal lamp 1 by the signal time distributing conception of outlet crossing; For any one group of sub-highway section signal lamp i, its signal time distributing conception all should be identical with the signal time distributing conception content of sub-highway section signal lamp j (j=i-1), but zero-time will shift to an earlier date a period of time, promptly has a phase differential O i, O wherein iCan be expressed from the next:
Figure BSA00000721337900042
D in the formula iBe the length of sub-highway section i, v iBe the green wave velocity of sub-highway section i, calculating phase differential O according to formula iAfter, just can extrapolate the signal time distributing conception of other sub-highway section signal lamps by the signal time distributing conception of sub-highway section signal lamp 1.Just can generate the signal time distributing conception of each sub-highway section signal lamp according to outlet intersection signal timing scheme through described method of this step, thereby all the sub-highway section signal lamps and the signal lamp united and coordinating of outlet crossing are controlled.
4, the driver judges according to the information on the signal lamp of sub-highway section whether vehicle is in " green wave band ".
Inlet or optional position, roadside are sailed the vehicle on the car lane in the highway section into from the highway section; Judge voluntarily through observing the nearest one group of sub-highway section signal lamp in its place ahead whether it is in " green wave band "; The method of judging is: when a certain vehicle that turn left in the exit goes on the highway section; The driver is through the color of the left-hand rotation arrow lamp of the nearest one group of sub-highway section signal lamp in its place ahead of observation and the time on the left rotaring signal count-down device; Combine general JD and vehicle present speed between vehicle and the preceding prescription highway section signal lamp again; If the left-hand rotation arrow lamp is a green light when roughly judging it and sailing under this organizes sub-highway section signal lamp, can assert that then it is in " green wave band ", as then not being in for red light in " green wave band "; When a certain vehicle that will keep straight in the exit goes on the highway section; The driver is through the color of the craspedodrome arrow lamp of the nearest one group of sub-highway section signal lamp in its place ahead of observation and the time on the craspedodrome signal count-down device; Combine general JD and vehicle present speed between vehicle and the preceding prescription highway section signal lamp again; If the craspedodrome arrow lamp is a green light when roughly judging it and sailing under this organizes sub-highway section signal lamp; Can assert that then it is in " green wave band ", as then not being in for red light in " green wave band "; When a certain vehicle that will turn right in the exit goes on the highway section; The driver is through the color of the right-hand rotation arrow lamp of the nearest one group of sub-highway section signal lamp in its place ahead of observation and the time on the right turn signal count-down device; Combine general JD and vehicle present speed between vehicle and the preceding prescription highway section signal lamp again; If the right-hand rotation arrow lamp is a green light when roughly judging it and sailing under this organizes sub-highway section signal lamp; Can assert that then it is in " green wave band ", as then not being in " green wave band " for red light.From method recited above, be not difficult to find: vehicle but the vehicle of all wagon flow directions of being not only a certain wagon flow direction; Can both find the relevant information of " green wave band " of own required direction from each sub-highway section signal lamp, and can according to judge in " green wave band " that oneself whether is in own required direction.
5, the car lane on the highway section is divided into green ripple track and treats the ripple track, be used for shunting and be in the green ripple vehicle of " green wave band " and be not in the non-green ripple vehicle in " green wave band ", to eliminate of the interference of non-green ripple vehicle to green ripple vehicle.Green ripple track only allows green ripple vehicle current for a long time with the green wave velocity on each sub-highway section above that, treats that the ripple track then allows any vehicle in Maximum speed limit, to go with arbitrary speed above that.Why to car lane be divided into green ripple track and treat the ripple track; Be because the vehicle that sails in the same time of porch, highway section also not all is in its required " green wave band "; Find that the non-green ripple vehicle that oneself is not in its required " green wave band " generally can not go according to green wave velocity; Thereby to around the green ripple vehicle wanting to go according to green wave velocity produce and disturb, treat that the non-green ripple vehicle shunting that the ripple track will not be in " green wave band " goes on it so need to be provided with.
Need to replenish be, have only the highway section of two phase places (all vehicles of phase place are all let pass, and all vehicles of another phase place are all forbidden) for the signal period of those exit signal lamps, then should not car lane be divided into green ripple track and treat the ripple track.This is because the vehicle that the same time sails in the porch; All be in own required " green wave band "; Be not in own required " green wave band ", like this just do not have vehicle and want deceleration to leave " green wave band ", treat that the ripple track has not just had the necessity that exists yet.Though after not treating the ripple track; The vehicle that is not in simultaneously when getting into the highway section in " green wave band " can select the vehicle front of deceleration from be in " green wave band " to get into " green wave band "; This can make that being in vehicle in " green wave band " has to slow down and step down for it; But can not compare in the current ripple track of treating of green ripple with one of increase, the former is smaller to the influence of road efficient.
6, non-green ripple vehicle is by " green wave band " and final the entering in " green wave band " of treating that the ripple track waits for that oneself is required.
The vehicle that on green ripple track, goes is through observing the nearest one group of sub-highway section signal lamp in its place ahead; If judge when oneself not being in its required " green wave band "; Lane change is immediately gone at a slow speed on the ripple track to treating, waits for that the green light of own required direction on the nearest one group of sub-highway section signal lamp in the place ahead lights; Pass through to observe the nearest one group of sub-highway section signal lamp in its place ahead at the vehicle of treating to go on the ripple track; If judge when oneself being in its required " green wave band "; Then should be in not influencing green ripple track under the prerequisite of normal vehicle operation, lane change is sailed in the green ripple track again.Find oneself not to be in the vehicle of its required " green wave band " after so getting into the highway section, just also can finally be implemented in the exit and run into green light through said method treating " green wave band " own required by the time on the ripple track and sailing into wherein.
So far control method for coordinating of the present invention can both realize that in outlet crossing green ripple is current so that any time gets into any vehicle in highway section basically according to the front several steps.
Being provided with of highway section inside lane can also comprise following characteristic.Treat that the ripple track should be close to the bicycle lane setting; When if car lane has four or four above in the highway section; Treat at one that the ripple track is born and do not live under the situation that too much non-green ripple vehicle goes above that, then visual actual conditions be provided with two with the bicycle lane next-door neighbour treat the ripple track.Green ripple track with treat the ripple track all should originate in the inlet the pedestrian crossing, and the outlet near the distribution lane section start end.Because most of vehicle can both pass through by green ripple in the exit; Have only the minority vehicle on distribution lane, to stop and wait red light; So near the distribution lane the outlet should be set to: corresponding each wagon flow divides flow path direction should have and have only an exclusive distribution lane; All the other tracks, exit then are made as public clearance track; Each wagon flow divides the flow path direction vehicle only to allow red light such as parkings grade on its corresponding exclusive distribution lane, if when not having vehicle red light such as to stop above that, and can the let pass vehicle of any current outlet clearance direction of each exclusive distribution lane; Public clearance track does not allow vehicle to wait red light above that, the vehicle of any current outlet clearance direction of can letting pass.
The size of each green wave velocity in sub-highway section also should come real-time synthetic to confirm according to actual conditions such as weather condition, road surrounding enviroment complexity, accidents.Wherein the road surrounding enviroment such as are meant near the bus stop, school's school gate, cinema gateway, crossing at stream of people's wagon flow more complicated places with dense, and near the green wave velocity in the sub-highway section these places should be lower than the green wave velocity in other sub-highway sections.The green wave velocity in sub-highway section also should be lower than the green wave velocity in other sub-highway sections near the gateway, highway section; The one, because the road conditions complicated speed of a motor vehicle that reduces in gateway can guarantee safety; The 2nd, have and manyly need lane change to get into to treat the ripple track, reduce the speed of a motor vehicle and can make the vehicle lane change safer because just get into vehicle in the highway section from inlet.
The green wave velocity display in sub-highway section can also comprise following characteristic.The green wave velocity display in sub-highway section can also give the prompting of congestion in road situation in one kilometer in the place ahead through the display digit change in color, greenly represent that highway section, the place ahead is unobstructed, yellow represents that highway section, the place ahead comparatively blocks up, on behalf of highway section, the place ahead, redness block up very much.The green wave velocity display in sub-highway section can also be pointed out between the green ripple vehicle and should suitably reduce fore-and-aft clearance through the method for the green wave velocity of frequent interior among a small circle change, gets into green ripple track to hold more vehicle as far as possible.
Control method for coordinating of the present invention can also combine with adaptive traffic signal control system to improve its usefulness.Concrete grammar is a mounting vehicle detecting device on the green ripple track under certain a little highway section Traffic signal post, is used to write down the green ripple vehicle number of sailing on it, and adjusts the signal time distributing conception of each sub-highway section signal lamp in real time according to data recorded.If signal lamp i is attached with wagon detector in the anyon highway section; So in the green time of a certain phase place of its signal time distributing conception: prescribe a time limit if detected green ripple vehicle number is greater than or equal on the green ripple vehicle number that can hold in this phase place green time; The length of corresponding phase green time in the intersection signal timing scheme of then should increasing export in real time, all sub-highway section beacon signal timing schemes also change thereupon accordingly; If detect in this phase place green time, to have and do not have the vehicle process in the time of a certain preseting length of surpassing; Then should reduce the length of corresponding phase green time in the outlet intersection signal timing scheme in real time, all sub-highway section beacon signal timing schemes also change thereupon accordingly.
Since non-green ripple vehicle just get into the highway section in the near future all lane change to having treated on the ripple track; Vehicle on green ripple track in detected same " green wave band " still remains in same " green wave band " when arriving outlet and can not disperse; Thereby the error that the detected data of wagon detector produce when finally the error of generation just can disperse than vehicle is little, and system will be more accurate to the adjustment of signal time distributing conception.Simultaneously, make these vehicles to adjust according to new signal time distributing conception in time because each sub-highway section signal lamp can be in real time the information of signal time distributing conception change (time that for example a certain wagon flow direction " green wave band " finishes by in advance or postpone) is just conveyed at the vehicle of travels down.If in a single day the green ripple fleet of a certain specifically wagon flow direction is detected saturated; The time retardation that computing machine finishes this wagon flow direction " green wave band "; The zero-time of the corresponding wagon flow direction in back " green wave band " is also postponed; This moment, sub-highway section signal lamp just can in time convey to all vehicles on the highway section with these signal time distributing conception transition information; The green ripple fleet of that wagon flow direction of back just can slow down in time, gives and treats to want on the ripple track to get into the vehicle slot milling of its place ahead wagon flow direction " green wave band ".If in like manner the space is excessive between the two green ripple fleets; The adjustment scheme that computing machine is made in view of the above also can be conveyed to vehicles all on the highway section in time; Space too much can be dwindled in time, thereby let the road utilization of space that further raising has been arranged.So control method for coordinating of the present invention has improved the usefulness of adaptive traffic signal control system really with after adaptive traffic signal control system combines.
Can also install video monitoring equipment again on the Traffic signal post of sub-highway section, enable in time to find and write down the behavior of the green ripple normal vehicle operation of interference that takes place on the highway section.
When the no left turn of Way out crossing, sub-highway section signal lamp group can not comprise left-hand rotation arrow lamp and left rotaring signal count-down device; When the Way out crossing forbade keeping straight on, sub-highway section signal lamp group can not comprise craspedodrome arrow lamp and craspedodrome signal count-down device; When the no right turn of Way out crossing, sub-highway section signal lamp group can not comprise right-hand rotation arrow lamp and right turn signal count-down device.
The present invention compared with prior art has the advantage and the beneficial effect of following several respects:
1, increased the adaptability of " green wave band ".
1) because control method for coordinating of the present invention only relates to the coordination control between outlet intersection signal lamp and each the sub-highway section signal lamp; Irrelevant with the inlet crossing, want consistent so also just need not obtain the oral sex prong with the signal period that adopt the inlet crossing.Highway section, any arterial highway just can adopt method of the present invention to realize that all vehicles always run into the target of green light at the crossing as long as link to each other with a crossing by traffic lights control.
2) can adapt to complicated traffic environment, eliminate the influence of disturbing factor green ripple vehicle.Treat the ripple track just as a suction cleaner, any vehicle that goes not according to green wave velocity all is limited in treats to go on the ripple track.Treat that the vehicle on the ripple track wants to get into green ripple track; Must come lane change according to the rule that must not disturb normal vehicle operation on the green ripple track; If there is vehicle to interfere with the cruising of green ripple vehicle not according to regular lane change, can be through being installed in its unlawful practice of video monitoring equipment monitoring recording on each sub-highway section Traffic signal post.Even if green ripple vehicle has been interfered with under few cases, the driver also can be in time according to real-time " green wave band " relevant information that shows on the nearest sub-highway section signal lamp in the place ahead, constantly adjusts the speed of a motor vehicle so that it can return in " green wave band " goes.If certain a little highway section peripheral path environment more complicated can also make that green ripple vehicle can be with safe speed through the complicated highway section of road conditions through reducing the method for this green wave velocity in sub-highway section in addition.Control method for coordinating of the present invention thus can greatly improve the adaptive faculty of green ripple vehicle to complicated traffic environment compared to existing " green wave band " technology.
3) can adapt to complicated Changes in weather, running into dense fog, heavy snow etc. needs the situation of vehicle with the low speed safety traffic, and the green wave velocity that only need turn down all sub-highway section signal lamps demonstrations simply gets final product.
2, improved the traffic capacity of implementation " green wave band " road.
1) is not only the vehicle of a certain wagon flow direction; But the vehicle of all wagon flow directions can pass through by green ripple on the road of implementing " green wave band "; Except minority is not waited until the vehicle of own required " green wave band " up to exporting stop line yet, most of vehicle can run into own required green light in the outlet crossing.
2) increased exit, the highway section number of track-lines of can letting pass.Wait red light owing to seldom have vehicle parking on the outlet distribution lane; So can let pass current crossing, all tracks, exit, highway section allows the vehicle of letting pass in the time of many; Even if having vehicle parking near the distribution lane outlet to wait red light, at most also only can take two tracks.
3) when crossing wagon flow direction green light lights; Corresponding green ripple fleet also just in time arrives near the stop line of crossing with it; Do not wait red light if there is vehicle on distribution lane, to stop, in the couple of seconds that green light lights, just have vehicle so and begin to pass through apace continuously the crossing.When seeing that green light lights, just start to walk to quicken slow mode with respect to the existing red light vehicle that waits through the crossing; Control method for coordinating of the present invention can in most of the cases be saved the green light transit time of wasting because of vehicle start, thereby has improved the traffic capacity at place, crossing.
4) can also combine with adaptive traffic signal control system and improve its usefulness.At first; Can improve the accuracy of its signal adjusting case; Because the good progressive movement in " green wave band " can not disperse; When non-green ripple vehicle all lane change after treat the ripple track; Vehicle on green ripple track in detected same " green wave band " still can remain in " green wave band " when arriving outlet and can not disperse, thereby the error that the detected data of wagon detector produce when finally the error of generation just can disperse than vehicle is little, and system will be more accurate to the adjustment of signal time distributing conception.Secondly; On the basis that guarantees accuracy; Owing to can be in real time the signal time distributing conception transition information be just conveyed at the vehicle of travels down, it can be adjusted in time, saturated green ripple fleet dilatation in time according to new signal time distributing conception through each sub-highway section signal lamp; Excessive space also can dwindle in time between the two green ripple fleets, thereby makes the utilization factor of path space that further raising arranged.
5) the green wave velocity display in sub-highway section gives the prompting of congestion in road situation in one kilometer in the place ahead through change in color; The driver can select to detour according to prompting; Dredge the effect that wagon flow is alleviated traffic congestion in advance thereby play, improved the whole traffic capacity of regional interior road.
6) the green wave velocity display in sub-highway section is pointed out between the green ripple vehicle and should suitably be reduced fore-and-aft clearance through the method for the green wave velocity of frequent interior among a small circle change, gets into green ripple track to hold more vehicle as far as possible.Under extreme case, start with from reducing average headway, also be a kind of method that increases road passage capability.
3, increased the security of " green wave band ".Treat that the speed of a motor vehicle on the ripple track is generally all slow, roadside behavior meetings such as bus pulls in, the last taxi of passerby are safer.Because the green ripple vehicle that in each wagon flow direction " green wave band ", goes is understood the green ripple of each self-forming fleet, the distance in the green ripple fleet between the vehicle is understood closer, and the pedestrian can not take a risk between continuous green ripple vehicle, to walk.
4, adopted the highway section of control method for coordinating of the present invention, vehicle can significantly reduce in the situation of red lights such as crossing, thereby has saved the fuel consume when starting to walk, i.e. economy energy-conserving and environment-protective again.
Description of drawings
Fig. 1 is the highway section t=0 floor map constantly that adopts control method for coordinating according to the invention.
Fig. 2 is the time space graph that vehicle A～H goes on highway section shown in Figure 1 described in the embodiment 1.
Fig. 2 is that highway section shown in Figure 1 increases t=100 floor map constantly behind the fork in the road.
Fig. 4 is the time space graph that vehicle A～H goes on highway section shown in Figure 3 described in the embodiment 1.
Fig. 5 is the concrete installation site of each a signal lamp synoptic diagram on the Traffic signal post of sub-highway section.
Fig. 6 is each sub-highway section beacon signal timing scheme and outlet intersection signal timing scheme, the adjustment that the vehicle distribution situation is made in phase place 1 green time on the sub-highway section signal lamp 3 that records according to wagon detector 7.
Fig. 7 is each sub-highway section beacon signal timing scheme and outlet intersection signal timing scheme, the adjustment that the vehicle distribution situation is made in phase place 1 green time on the sub-highway section signal lamp 2 that records according to wagon detector 6.
Fig. 8 is the principle flow chart of control method for coordinating according to the invention.
In Fig. 1～7: 1. export the intersection signal lamp; 2. sub-highway section signal lamp 1; 3. sub-highway section signal lamp 2; 4. sub-highway section signal lamp 3; 5. sub-highway section signal lamp 4; 6. wagon detector; 7. wagon detector; 8. green ripple track; 9. treat the ripple track; 10. sub-highway section 1; 11. sub-highway section 2; 12. sub-highway section 3; 13. sub-highway section 4; 15. the initial time line of cycle 1 phase place, 1 green light; 16. cycle 1 phase place, the 1 green light line finish time; 17. the initial time line of cycle 1 phase place, 2 green lights; 18. cycle 1 phase place, the 2 green light lines finish time; 19. the initial time line of cycle 1 phase place, 3 green lights; 20. cycle 1 phase place, the 3 green light lines finish time; 21. the initial time line of cycle 1 phase place, 4 green lights; 22. cycle 1 phase place, the 4 green light lines finish time; 23. the initial time line of cycle 2 phase places, 1 green light; 24. cycle 2 phase places, the 1 green light line finish time; 25. the pedestrian of jaywalk; 27. left-hand rotation arrow lamp; 28. left rotaring signal count-down device; 29. craspedodrome arrow lamp; 30. craspedodrome signal count-down device; 31. right-hand rotation arrow lamp; 32. right turn signal count-down device; 33. the green wave velocity display in sub-highway section.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explaination, but the scope that the scope that the present invention requires to protect is not limited to explain among the embodiment.
Embodiment 1
As shown in Figure 1 at something on major trunk roads, select from West to East one section 400 meters long highway section between garage's direction two crossings as research object, then the crossing in west side, highway section is the inlet crossing, the crossing in east side, highway section is the outlet crossing.Set up sub-highway section signal lamp 1 at 50 meters of distance outlet stop line, itself and the one section 50 meters long highway section that exports between the stop line are sub-highway section 1; Setting up sub-highway section signal lamp 2 at 150 meters of distance outlet stop line, one section 100 meters long highway section between itself and the sub-highway section signal lamp 1 are sub-highway section 2; Setting up sub-highway section signal lamp 3 at 250 meters of distance outlet stop line, one section 100 meters long highway section between itself and the sub-highway section signal lamp 2 are sub-highway section 3; Setting up sub-highway section signal lamp 4 at 350 meters of distance outlet stop line at last, one section 100 meters long highway section between itself and the sub-highway section signal lamp 3 are sub-highway section 4.
After all sub-highway section signal lamps are set up, through following steps this a little highway section signal lamp and outlet intersection signal lamp are all linked, with computing machine their signal time distributing conception is coordinated control, thereby form " green wave band ".
The first step will be confirmed the green wave velocity of " green wave band ".We can find out that the road surrounding enviroment on each sub-highway section are basic identical from Fig. 1, and the green wave velocity in each sub-highway section should be consistent.Again owing to only know the signal time distributing conception of outlet crossing; Inlet intersection signal timing scheme is unknown; Weather condition is unknown simultaneously, and dynamic road condition is also unknown, can not confirm the size of green wave velocity according to these factors; So all be decided to be 10 meter per seconds for ease of the green wave velocity of calculating each sub-highway section in the present embodiment, promptly 36 kms/hour.
Second step will be confirmed the signal time distributing conception of sub-highway section signal lamp 1.Realize green wave coordination control, the signal time distributing conception of sub-highway section signal lamp 1 should be identical with the signal time distributing conception content that exports the crossing, but zero-time will shift to an earlier date a period of time, promptly has a phase differential O 1, O wherein 1Can be expressed from the next: D in the formula 1Be 50 meters of the length in sub-highway section 1, v 1 Green wave velocity 10 meter per seconds for sub-highway section 1.Can get O through calculating 1=5 seconds.Exporting under the known situation of intersection signal timing scheme, can draw the signal time distributing conception of sub-highway section signal lamp 1.
The 3rd step was confirmed the signal time distributing conception of other sub-highway section signal lamps again.Realize green wave coordination control, for the signal time distributing conception of anyon highway section signal lamp i, all should be identical with the signal time distributing conception content of sub-highway section signal lamp j (j=i-1), but zero-time will shift to an earlier date a period of time, promptly has a phase differential O i, O wherein iCan be expressed from the next: D in the formula iBe the length of sub-highway section i, be 100 meters, v iGreen wave velocity for sub-highway section i is 10 meter per seconds.Can get O through calculating 2=10 seconds, O 3=10 seconds, O 4=10 seconds.Under the known situation of the signal time distributing conception of sub-highway section signal lamp 1, can draw the signal time distributing conception of other sub-highway section signal lamps respectively.
After having confirmed the signal time distributing conception of each sub-highway section signal lamp through above three steps, vehicle can realize on the highway section that basically green ripple passes through.But not all just vehicle that the porch gets into the highway section from Fig. 1 all can be in its required " green wave band "; In order not allow non-green ripple vehicle to disturb the normal current of green ripple vehicle; Special that car lane of outermost next-door neighbour bicycle lane among Fig. 1 is set at treated the ripple track; The vehicle shunting that will not be in " green wave band " goes on it, and the two other car lane then is made as green ripple track, only allows vehicle to go with green wave velocity above that.
So far " sub-highway section green wave band " of the present invention just set up basically, next through the travel situations of concrete analysis vehicle on the highway section, explains control method for coordinating of the present invention is how to induce the green ripple of vehicle implementation current.
The signal phase scheme of outlet crossing is as shown in fig. 1; Each phase place duration as shown in Figure 2; The selected a certain moment is t=0 moment second; The signal that carves oral sex prong signal lamp this moment just in time is in the initial moment of phase place 3, supposes that the signal period of this moment is the cycle 0, and the cycle so thereafter is cycle 1, cycle 2.According to the result of calculation in front second step, the 3rd step, can be in the hope of the signal time distributing conception of each sub-highway section signal lamp, as shown in Figure 2.
As shown in Figure 2 have 8 car A～H to sail the highway section into from the porch from t=0 second constantly, and the time of sailing into of these 8 car A～H with the direction of desiring to roll away from the exit is respectively: car A sails into during second at t=2, desires to keep straight in the exit; Car B sails into during second at t=10, desires to turn left in the exit; Car C sails into during second at t=22, desires to turn right in the exit; Car D sails into during second at t=30, desires to keep straight in the exit; Car E sails into during second at t=43, desires to turn right in the exit; Car F sails into during second at t=55, desires to keep straight in the exit; Car G sails into during second at t=64, desires to keep straight in the exit; Car H sails into during second at t=80, desires to turn right in the exit.
Curve A A ' representative is the time gap graph of a relation that the A car goes in the highway section among Fig. 2; When supposing that all vehicles have just sailed into speed all be 24 kms/hour; Can find out the A car except the speed of a motor vehicle when just sailing the highway section into slow (the high more speed of a motor vehicle of slope is slow more), the most of the time all be with 36 kms at the uniform velocity/hour green wave velocity going.This is to find that through observing sub-highway section signal lamp 4 the craspedodrome arrow lamp is a green light once sailing the highway section into because the A car is firm; Oneself just in time be in the required craspedodrome green wave band, as long as according to sub-highway section green wave velocity display speed of displaying 36 kms/hour go and just can run into the craspedodrome green light in the exit.Why signal lamp 4 places have an apparent in view velocity variations in sub-highway section; Be because A car driver needs the certain reaction time before beginning to regulate the speed; So he just begins to regulate the speed through sub-highway section signal lamp 4 time, and this moment, he walked four or five seconds at the signal count-down device of finding to keep straight on.If he just goes by green wave velocity at once, the craspedodrome green light that also can lag behind the exit when arriving outlet lights four or five seconds time; If he is with the speed that is higher than green wave velocity, under the prerequisite that then can in being in " green wave band ", go, earlier arrive outlet compared to just going at once by green wave velocity.Therefore the speed of A car on sub-highway section 4 be 48 kms/hour, this than before 24 kms/hour many soon, change so have obvious speed.Find when the A car is sailed through sub-highway section signal lamp 3 that the craspedodrome arrow lamp has also just changeed green, he be in " green wave band " foremost, so the A car with speed reduce to 36 kms/hour, and in ensuing stroke, keep green wave velocity to go up to outlet always.
Curve C C ' representative is the time gap graph of a relation that the C car goes in the highway section among Fig. 2; Because the C car also is to find to lay oneself open in its right-hand rotation green wave band of wanting once sailing the highway section into; So concrete travel situations and the A car of C car on the highway section is roughly the same, so curve C C ' is also closely similar with curve A A '.
Curve B B ' representative is the time gap graph of a relation that the B car goes in the highway section among Fig. 2; The B car is to turn left in the direction of rolling away from exit; The left-hand rotation arrow lamp of when he sails the highway section into, but finding the sub-highway section signal lamp 4 in the place ahead is a red light, oneself is not in its required left-hand rotation green wave band so the driver judges.Lane change simultaneously is to treating on the ripple track so the B car reduces speed now; With 12 kms/hour speed go at a slow speed on the ripple track treating, it is high compared to other places that the performance of the process of going at a slow speed in Fig. 2 is exactly near the slope of curve B B ' sub-highway section signal lamp 4.Because the phase place 2 that closely follow phase place 1 back just allows vehicle to turn left, become green light so when B garage sails to 4 stage casings, sub-highway section, just find the left-hand rotation arrow lamp on the sub-highway section signal lamp 3 in the place ahead.The driver judges that oneself being in the left-hand rotation green wave band has now suffered, then prepare from treat the ripple track again lane change return in the green ripple track.
But the crossing situation that curve B B ' shown in the 14 special circles of the circle from Fig. 2 and curve C C ' take place; If B car and C car be not at this moment simultaneously all at green ripple lanes (considering to have two green ripple tracks); Two cars can bump; Can only temporarily remain on and treat in the ripple track for avoiding colliding the B car, wait the C car to cross lane change again and go into green ripple track.Should be noted that simultaneously; Because the C car is in " green wave band " foremost,, and ties up C car position in C car the place ahead with the mode of slowing down and get into " green wave band " if the B car sails in the green ripple track in advance; This behavior meeting interferes with the cruising of green ripple vehicle C, is not allowed to.So circle 14 B of place car correct treatment can only be after the C car crosses from green ripple track, just to begin lane change, to closely follow with green wave velocity then and go at the back up to outlet at the C car, the time headway between two cars probably is 2 seconds.
Curve D D ' representative is the time gap graph of a relation that the D car goes in the highway section among Fig. 2; The D car is to keep straight in the direction of rolling away from exit; The craspedodrome signal lamp of when he sails the highway section into, but finding the sub-highway section arrow lamp 4 in the place ahead is a red light, oneself is not in its required craspedodrome green wave band so the driver judges.Lane change simultaneously is to treating on the ripple track so the D car reduces speed now, with 12 kms/hour speed go on the ripple track treating.We see that the D car for a long time just waited until own required craspedodrome green wave band treating to have gone on the ripple track, and the signal period of this moment has been the cycle 2.The process that green ripple track is gone in D car as shown in Figure 2 lane change also must not be disturbed the cruising of green ripple vehicle F, G, goes into green ripple track heel in lane change and behind F car, G car, adds green ripple fleet, finally goes up to outlet with green wave velocity.
Curve EE ', curve FF ', curve GG ' represent respectively among Fig. 2 is the time gap graph of a relation that E car, F car, G car go in the highway section; Its driving process is also similar basically with B car, D car: all be to find oneself not to be in own required " green wave band "; So all lane change is gone at a slow speed on the ripple track to treating; When finding by the time to be in own required " green wave band " again, lane change is returned in the green ripple track again.The behavior that they sail green ripple track again into also must not influence the cruising of green ripple vehicle in the green ripple track.Final E car has driven to outlet with green wave velocity in its required right-hand rotation green wave band, F car and G car have driven to outlet with green wave velocity in its required craspedodrome green wave band.
Curve HH ' representative is the time gap graph of a relation that the H car goes in the highway section among Fig. 2, and the mode of going of H car is all different with other cars.The right turn signal lamp or the green light of sub-highway section signal lamp 4 when just getting into the highway section; But the last time of right-hand rotation count-down device has had only one second; Very fast he finds that just the right turn signal lamp of sub-highway section signal lamp 4 has become red light, oneself no longer is in its required right-hand rotation green wave band and has suffered.Lane change is not gone in the ripple track to treating but he slows down, but in green ripple track, give it the gun, with Maximum speed limit 60 kms/hour speed pulled up to forwardly right-hand rotation green wave band nearby.Certainly this way of on green ripple track, catching up with own required " green wave band " of H car, be satisfy be only under the situation of specified conditions feasible.At first will satisfy and have no other vehicles to hinder between H car and its required " green wave band ", this point is as can be seen from Figure 2 caught up with in the process of right-hand rotation green wave band at whole H car, and the D, F, G car that is positioned at its place ahead also goes on the ripple track treating; The end that secondly also will satisfy H car required with it " green wave band " is (promptly when the green ripple fleet in " green wave band " is saturated; The residing position of the trailer of fleet) not too far away apart; This point still is that green light just can be found out from the right-hand rotation arrow lamp at t=80 highway section signal lamp 4 during second; This moment, the distance of H car and right-hand rotation green wave band end was no more than 50 meters, and phase place 4 just finishes to draw in 5 seconds similar conclusion in the time of can also be under the H car arrives sub-highway section signal lamp 4.So H car driver just can make the decision of catching up with the place ahead right-hand rotation green wave band, just must in treating the ripple track, wait the last long period could wait until next right-hand rotation green wave band as not catching up with him.As shown in Figure 2; The H car has just pulled up to the right-hand rotation green wave band on sub-highway section 3; But he still is in the end of right-hand rotation green wave band; Do not have forwardly H car under the situation of other vehicles still keep 60 kms/hour speed on green ripple track, go, under the prerequisite that can in still being in " green wave band ", go, more early arrive outlet compared to just going at once by green wave velocity.
So far; The analysis of the time space graph that is produced through 8 car A～H among Fig. 2 are gone on highway section shown in Figure 1; It is can give the vehicle in any entering highway section with enough " green wave band " information indicating that but knowledge capital is invented described control method for coordinating, thereby makes and just can find and sail in its process of in the highway section, going in own required " green wave band ".
Embodiment 2
What present embodiment will be discussed is under the complex road condition condition, and whether control method for coordinating of the present invention can also ensure that green ripple vehicle goes in " green wave band ".
Highway section shown in Fig. 3 be among Fig. 1 the highway section at the planimetric map of t=100 real-time road during second; Different is on sub-highway section 2, to have had more a fork in the road; And be engraved in a jaywalk pedestrian 25 is arranged on the sub-highway section 3 this moment, the cruising to F car, G car that he can disturb.
Because the place, fork in the road disturbs the factor of green ripple normal vehicle operation to increase, so should suitably reduce the influence that the green wave velocity on the sub-highway section 2 is brought with the minimizing disturbing factor.Concrete measure is adjusted into O as shown in Figure 4 with the phase differential between sub-highway section signal lamp 2 and sub-highway section signal lamp 1 signal time distributing conception 2=15 seconds, the green wave velocity in so sub-highway section 2
Figure BSA00000721337900131
Km/hour, the length d in formula neutron highway section 2 2=100 meters.If green ripple vehicle with 24 kms/hour speed on sub-highway section 2, go, can reduce the influence that the fork in the road disturbing factor brings to a certain extent.If the green wave velocity on the highway section is to be decided by the difference of highway section inlet with the initial time in the moment of outlet vehicle flowrate maximum phase, so green ripple vehicle is from fix the T.T. that inlet drives to outlet.In order to guarantee that T.T. is constant, green ripple vehicle running time on sub-highway section 2 has been used 5 seconds more, and the T.T. of on other sub-highway sections, going so just should be less with 5 seconds.Concrete measure is as shown in Figure 4, with the phase differential O between sub-highway section signal lamp 3 and sub-highway section signal lamp 2 signal time distributing conceptions 2Changed to the phase differential O between sub-highway section signal lamp 4 and sub-highway section signal lamp 3 signal time distributing conceptions 7.5 seconds 3Also changed to the green wave velocity on the so sub-highway section 3 7.5 seconds
Figure BSA00000721337900141
Km/hour, the green wave velocity on the sub-highway section 4 Km/hour, the length d in formula neutron highway section 3 3=100 meters, the length d in sub-highway section 4 4=100 meters.Through above method, under the constant prerequisite of our just can be in guaranteeing the highway section total green ripple transit time,, reduce of the influence of complicated road surrounding enviroment to the cruising generation of green ripple vehicle through finely tuning the green wave velocity in each sub-highway section.
As shown in Figure 3; 3 stage casings, sub-highway section a bicycle 25 is arranged at t=100 during second in jaywalk; This moment, G car and F car were just sailed through this place, and the result has received the interference speed of a motor vehicle and sharply descended, when two cars recover cruising by the time; Tens seconds have been delayed, the circle 26 special circle place's of the showing concrete manifestations of this act on time space graph just among Fig. 3.But because the prompting of sub-highway section signal lamp is arranged; Two cars are just going at the front end of craspedodrome green wave band before disturbing; Still still be in " green wave band " even if delayed tens seconds after being disturbed, if the still green light that the continuation of two cars is gone and run in the exit by green wave velocity.Find when only they arrive sub-highway section signal lamp 2 that the craspedodrome remaining time of count-down device is few; They have been in the end of craspedodrome green wave band; So do not have forwardly under the situation of other vehicles obstructions; Two cars are resolute adopt 60 kms/hour speed in green wave band, go, under the prerequisite that can in still being in " green wave band ", go, export compared to just going more early to arrive at once according to green wave velocity.
We can find out from present embodiment: 1. because the green wave velocity display in sub-highway section can change green wave velocity; Thereby under the complex road condition condition; Can pass through the method for the green wave velocity in sub-highway section of reduction road conditions complicated highway section, effectively reduce the influence that disturbing factor produces green ripple vehicle; 2. even if green ripple vehicle has really been interfered with; Sub-highway section signal lamp also can in time be provided its required " green wave band " relevant information by interfere with vehicles; Make and in time to be adjusted, go in the hope of returning to as early as possible in " green wave band " to transport condition by interfere with vehicles.
Embodiment 3
What present embodiment was set forth is: control method for coordinating of the present invention is how to combine to improve its usefulness with adaptive traffic signal control system.Be that the real-time traffic flow situation how each sub-highway section signal lamp is gathered according to wagon detector is come its signal time distributing conception of change in real time specifically, and how this real-time change produce influence in real time to going of green ripple vehicle.
As shown in Figure 1; After wagon detector 7 is detecting the A car and is crossing; Duration setting does not detect other vehicle processes again in 8 seconds time period, computing machine has been adjusted the signal time distributing conception of all sub-highway section signal lamps and outlet intersection signal lamp in real time according to this situation.As shown in Figure 6, the concluding time of the signal phase 1 of each sub-highway section signal lamp all shifts to an earlier date 4 seconds, and the zero-time of the signal phase 2 of each sub-highway section signal lamp has also all shifted to an earlier date 4 seconds.After wagon detector 6 is detecting the A car and is crossing; Duration setting does not detect other vehicle processes more yet in 8 seconds time period, computing machine has been adjusted the signal time distributing conception of all sub-highway section signal lamps and outlet intersection signal lamp again in real time according to this situation.As shown in Figure 7, the concluding time of the signal phase 1 of each sub-highway section signal lamp all shifts to an earlier date 4 seconds again, and the zero-time of the signal phase 2 of each sub-highway section signal lamp has also all shifted to an earlier date 4 seconds again.
Like Fig. 6, shown in 7, the adjustment of twice signal time distributing conception has only produced influence to B car and C car in the phase place 2.For the first time the chances are the time of adjustment t=30 is during second; B car and C car just go in the stage casing in sub-highway section 4; When the zero-time of its required " green wave band " has shifted to an earlier date 4 seconds on noticing sub-highway section signal lamp 3; Two cars begin to quicken according to 60 kms/hour speed on green ripple track, go so that the front end that oneself can remain on " green wave band " goes.If there is not adjustment second time as shown in Figure 7, the B car among Fig. 6 and C car just have been in the front end of " green wave band " basically when driving to signal lamp 2 places, sub-highway section, ensuing stroke only need by green wave velocity 36 kms/hour going gets final product.Yet as shown in Figure 7ly at t=40 adjustment has taken place during second for the second time; B car and C car just go in the stage casing in sub-highway section 3; When the zero-time of its residing " green wave band " has shifted to an earlier date 4 seconds again on noticing sub-highway section signal lamp 2; The decision of B car and C car continue according to 60 kms/hour speed, up in sub-highway section signal lamp 1 place judge that it has been in the front end of green wave band, final two cars with 36 kms/hour green wave velocity driven to outlet.
We find through above-mentioned analysis: control method for coordinating of the present invention; Be to combine with adaptive traffic signal control system; Make that excessive space can be dwindled in time between A car and the C car, thereby let the road utilization of space that further raising has been arranged.

Claims (10)

1. the green ripple in a seed highway section is induced the shunting control method for coordinating, it is characterized in that may further comprise the steps:
(1) in the highway section, set up specific sub-highway section signal lamp and confirm its correlation parameter according to certain method: the highway section on selected a certain one-way road or the arbitrary garage of the two-way road direction between two crossings is for implementing the highway section of green wave coordination control; Setting up one group of traffic lights apart from 50～100 meters of outlet stop line, highway section; Whenever then, set up one group of traffic lights at a distance from 100～200 meters, set up last to organize traffic lights up to 50～100 meters of distance inlet zebra stripes; If be sub-highway section by separated a section the little highway section of traffic lights in the definition highway section; The traffic lights of then setting up in these highway sections of definable are sub-highway section signal lamp; Set simultaneously in two sub-highway sections that are close to anyon highway section signal lamp i, export its corresponding sub-highway section i that is of a side near garage's direction; Each group traffic lights all comprises: left-hand rotation arrow lamp, craspedodrome arrow lamp, right-hand rotation arrow lamp, left rotaring signal count-down device, craspedodrome signal count-down device, the green wave velocity display of right turn signal count-down device and sub-highway section, and its neutron highway section green wave velocity display speed of displaying is the green wave velocity on its corresponding sub-highway section;
(2) the green wave velocity on tentatively definite each sub-highway section: if green wave coordination control is located to have carried out between two crossings in the gateway, then the green wave velocity on each sub-highway section should be identical with the green wave velocity that the control of two crossings implementation green wave coordination is adopted; If green wave coordination control is located not carry out between two crossings in the gateway, then should enter the mouth and the initial mistiming in the moment that exports the vehicle flowrate maximum phase according to the highway section, and the total length in highway section, primary Calculation goes out the green wave velocity in each sub-highway section; If the green wave velocity that calculates is higher than the highway section Maximum speed limit or is lower than the minimum speed of 20 kilometer per hours, then should between highway section Maximum speed limit and minimum speed, reselect the green wave velocity of a speed as each sub-highway section;
(3) confirm the signal time distributing conception of each sub-highway section signal lamp: the distance according to the distance outlet is named each sub-highway section signal lamp; Distance outlet is nearest answers the sub-highway section of called after signal lamp 1; Distance outlet farthest answer the sub-highway section of called after signal lamp n, n is the quantity of sub-highway section signal lamp in the highway section; The signal time distributing conception of setting sub-highway section signal lamp 1 is identical with the signal time distributing conception content of outlet crossing, but zero-time will shift to an earlier date a period of time, promptly has a phase differential O 1, O wherein 1Can be expressed from the next:
Figure FSA00000721337800011
D in the formula 1Be the length in sub-highway section 1, v 1Be the green wave velocity in sub-highway section 1, calculating phase differential O according to formula 1After, just can draw the signal time distributing conception of sub-highway section signal lamp 1 by the signal time distributing conception of outlet crossing; For any one group of sub-highway section signal lamp i, its signal time distributing conception all should be identical with the signal time distributing conception content of sub-highway section signal lamp j, j=i-1 wherein, but zero-time will shift to an earlier date a period of time, promptly has a phase differential O i, O wherein iCan be expressed from the next:
Figure FSA00000721337800012
D in the formula iBe the length of sub-highway section i, v iBe the green wave velocity of sub-highway section i, calculating phase differential O according to formula iAfter, just can extrapolate the signal time distributing conception of other sub-highway section signal lamps by the signal time distributing conception of sub-highway section signal lamp 1;
(4) inlet or optional position, roadside are sailed the vehicle on the track, highway section into from the highway section; Judge voluntarily through observing the nearest one group of sub-highway section signal lamp in its place ahead whether it is in " green wave band "; The method of judging is: when a certain vehicle that turn left in the exit goes on the highway section; The driver is through the color of the left-hand rotation arrow lamp of the nearest one group of sub-highway section signal lamp in its place ahead of observation and the time on the left rotaring signal count-down device; Combine general JD and vehicle present speed between vehicle and the preceding prescription highway section signal lamp again; If the left-hand rotation arrow lamp is a green light when roughly judging it and sailing under this organizes sub-highway section signal lamp, can assert that then it is in " green wave band ", as then not being in for red light in " green wave band "; When a certain vehicle that will keep straight in the exit goes on the highway section; The driver is through the color of the craspedodrome arrow lamp of the nearest one group of sub-highway section signal lamp in its place ahead of observation and the time on the craspedodrome signal count-down device; Combine general JD and vehicle present speed between vehicle and the preceding prescription highway section signal lamp again; If the craspedodrome arrow lamp is a green light when roughly judging it and sailing under this organizes sub-highway section signal lamp; Can assert that then it is in " green wave band ", as then not being in for red light in " green wave band "; When a certain vehicle that will turn right in the exit goes on the highway section; The driver is through the color of the right-hand rotation arrow lamp of the nearest one group of sub-highway section signal lamp in its place ahead of observation and the time on the right turn signal count-down device; Combine general JD and vehicle present speed between vehicle and the preceding prescription highway section signal lamp again; If the right-hand rotation arrow lamp is a green light when roughly judging it and sailing under this organizes sub-highway section signal lamp; Can assert that then it is in " green wave band ", as then not being in for red light in " green wave band ";
(5) car lane on the highway section is divided into green ripple track and treats the ripple track; Being used for shunting is in the green ripple vehicle of " green wave band " and is not in the non-green ripple vehicle in " green wave band "; Green ripple track only allows green ripple vehicle current for a long time with the green wave velocity on each sub-highway section above that, treats that the ripple track then allows any vehicle in Maximum speed limit, to go with arbitrary speed above that;
(6) vehicle that on green ripple track, goes is through observing the nearest one group of sub-highway section signal lamp in its place ahead; If judge when oneself not being in its required " green wave band "; Lane change is immediately gone at a slow speed on the ripple track to treating, waits for that the green light of own required direction on the nearest one group of sub-highway section signal lamp in the place ahead lights; Pass through to observe the nearest one group of sub-highway section signal lamp in its place ahead at the vehicle of treating to go on the ripple track; If judge when oneself being in its required " green wave band "; Then should be in not influencing green ripple track under the prerequisite of normal vehicle operation, lane change is sailed in the green ripple track again.
2. control method for coordinating according to claim 1; It is characterized in that; The described ripple track of treating of step (5) should be close to the bicycle lane setting; When if car lane has four or four above in the highway section, treat at one that the ripple track is born and do not live under the situation that too much non-green ripple vehicle goes above that, then visual actual conditions be provided with two with the bicycle lane next-door neighbour treat the ripple track.
3. control method for coordinating according to claim 1 is characterized in that, the described green ripple of step (5) track with treat the ripple track all should originate in the inlet the pedestrian crossing, and the outlet near the distribution lane section start end.
4. control method for coordinating according to claim 3; It is characterized in that; The situation that specifically is provided with of distribution lane is near the described outlet: corresponding each wagon flow divides flow path direction should have and have only an exclusive distribution lane; All the other tracks, exit then are made as public clearance track; Each wagon flow divides the flow path direction vehicle only to allow red light such as parkings grade on its corresponding exclusive distribution lane, if when not having vehicle red light such as to stop above that, and can the let pass vehicle of any current outlet clearance direction of each exclusive distribution lane; Public clearance track does not allow vehicle to wait red light above that, the vehicle of any current outlet clearance direction of can letting pass.
5. control method for coordinating according to claim 1 is characterized in that, the size of described each the green wave velocity in sub-highway section of step (2) also should come real-time synthetic to confirm according to actual conditions such as weather condition, road surrounding enviroment complexity, accidents.
6. control method for coordinating according to claim 1; It is characterized in that; The green wave velocity display in the described sub-highway section of step (1) can also give the prompting of road ahead congestion through the display digit change in color, green represent that highway section, the place ahead is unobstructed, yellow represents that highway section, the place ahead comparatively blocks up, on behalf of highway section, the place ahead, redness block up very much.
7. control method for coordinating according to claim 1 is characterized in that, the green wave velocity display in the described sub-highway section of step (1) can also be pointed out between the green ripple vehicle and should suitably reduce fore-and-aft clearance through the method for the green wave velocity of frequent interior among a small circle change.
8. control method for coordinating according to claim 1; It is characterized in that; Can also be on the green ripple track under certain a little highway section Traffic signal post the mounting vehicle detecting device; Be used to write down the green ripple vehicle number of sailing on it; And adjust the signal time distributing conception of each sub-highway section signal lamp in real time according to data recorded, if signal lamp i is attached with wagon detector in the anyon highway section, so in the green time of a certain phase place of its signal time distributing conception: if detected green ripple vehicle number is greater than or equal on the green ripple vehicle number that can hold in this phase place green time in limited time; The length of corresponding phase green time in the intersection signal timing scheme of then should increasing export in real time, all sub-highway section beacon signal timing schemes also change thereupon accordingly; If detect to have in this phase place green time and do not have the vehicle process in the time of a certain preseting length of surpassing; Then should reduce the length of corresponding phase green time in the outlet intersection signal timing scheme in real time, all sub-highway section beacon signal timing schemes also change thereupon accordingly.
9. control method for coordinating according to claim 1 is characterized in that, also should install video monitoring equipment again on the described Traffic signal post of step (1).
10. control method for coordinating according to claim 1 is characterized in that, when the no left turn of Way out crossing, the described signal lamp group of step (3) can not comprise left-hand rotation arrow lamp and left rotaring signal count-down device; When the Way out crossing forbade keeping straight on, the described signal lamp group of step (3) can not comprise craspedodrome arrow lamp and craspedodrome signal count-down device; When the no right turn of Way out crossing, the described signal lamp group of step (3) can not comprise right-hand rotation arrow lamp and right turn signal count-down device.
CN2012101584311A 2012-05-14 2012-05-14 Method for coordinately controlling sub road section green wave induction and distribution Pending CN102682613A (en)

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